CN110977275B

CN110977275B - Welding manipulator

Info

Publication number: CN110977275B
Application number: CN202010002405.4A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shandong Qixing Iron Tower Co ltd
Current assignee: SHANDONG QIXING IRON TOWER Co.,Ltd.
Priority date: 2020-01-02
Filing date: 2020-01-02
Publication date: 2020-12-18
Anticipated expiration: 2040-01-02
Also published as: CN110977275A

Abstract

The invention discloses a welding manipulator which comprises a machine shell, wherein a working cavity is arranged in the machine shell, a welding port is arranged in the working cavity, the welding port can be used for welding parts, the welding port can be rotated left and right to weld the parts from different angles, a translation motor is arranged in the upper end wall of the working cavity, the translation motor is in power connection with a driving shaft, the driving shaft rotates to enable the welding port to move horizontally, a left fixing plate and a right fixing plate are arranged in the machine shell, the left fixing plate and the right fixing plate are matched to fix the parts to be welded, a translation shaft is fixedly connected to the left end face of the left fixing plate, the translation shaft can rotate in the front and back direction to drive the left fixing plate to rotate in the front and back direction, so that the fixed parts can be driven to rotate in the front and back direction to match the left and right movement of the welding port and the rotation in the left and, can weld each point of the part.

Description

Welding manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a welding manipulator.

Background

When welding the part, fixing is carried out to the use by the manual work at present mostly, but because the part can produce a large amount of heats in welding process, so the manual work is fixed and is produced the safety problem easily, and the required welding position of part is different moreover, need carry out position control to the part in welding process, and the manual work is fixed and need be difficult to carry out position control, and welding effect is not good.

Disclosure of Invention

The present invention aims to provide a welding manipulator for overcoming the above-mentioned drawbacks of the prior art.

The welding manipulator comprises a machine shell, a working cavity is arranged in the machine shell, a welding mechanism is arranged in the working cavity and comprises a welding port arranged in the working cavity, the welding port can be used for welding parts, the welding port can rotate in the left and right directions so as to realize the welding of the parts from different angles, a power mechanism is arranged in the upper end wall of the working cavity and comprises a translation motor, the translation motor is in power connection with a driving shaft, the driving shaft rotates to enable the welding port to move in the horizontal direction so as to realize the switching of welding positions, a fixing mechanism is arranged in the machine shell and comprises a left fixing plate arranged in the working cavity, a right fixing plate is arranged in the working cavity, the left fixing plate and the right fixing plate are matched and close to each other so as to fix the parts to be welded, left side fixed plate left end face fixedly connected with translation axle, right side fixed plate right-hand member face fixedly connected with buffering removes the axle, thereby the translation axle can initiatively rotate and drive left side fixed plate rotates, because left side fixed plate with the right side fixed plate can fix needs welded part, so thereby the translation axle can carry out the rotatory drive of fore-and-aft direction left side fixed plate carries out the fore-and-aft direction rotation to it carries out the fore-and-aft direction rotation to drive fixed part, and the rotation of cooperation welding seam self side-to-side motion and left-and-right direction can carry out welding process to the part each point and handle.

On the basis of the technical scheme, the welding mechanism comprises a movable cavity arranged in the machine shell, a moving block with the lower end positioned in the working cavity is connected in the moving cavity in a sliding way, the front end of the moving block is provided with a connecting block, a rotating cavity is arranged in the connecting block, the front end of the moving block is rotatably connected with a rotating shaft with the front end positioned in the rotating cavity, the middle end of the rotating shaft is fixedly connected with a rotating block, the lower end surface of the rotating block is fixedly connected with a welding machine, the lower end of the welding machine is provided with a welding channel and a welding port, the front end of the rotating shaft is fixedly connected with a driven bevel gear, a belt wheel cavity is arranged in the front end wall of the rotating cavity, the rear end wall of the rotating cavity is rotationally connected with a reversing shaft with the front end positioned in the belt wheel cavity, the rear end of the reversing shaft is fixedly connected with a transmission bevel gear meshed with the driven bevel gear, and the front end of the reversing shaft is fixedly connected with a transmission belt wheel.

On the basis of the technical scheme, the power mechanism comprises a movable friction wheel which is connected with the right end of the driving shaft in a sliding manner, an annular cavity is arranged in the movable friction wheel, an arc-shaped block is connected in the annular cavity in a sliding manner, a fixed block is fixedly connected with the right end wall of the movable cavity, a fixed block cavity is arranged in the fixed block, a movable electromagnet is fixedly connected with the right end wall of the fixed block cavity, an intermediate rod which is fixedly connected with the left end surface of the fixed block is arranged in the fixed block cavity, a movable plate which is connected in the fixed block cavity in a sliding manner is fixedly connected with the right end surface of the intermediate rod, a horizontal spring which is connected with the movable plate and the movable electromagnet is arranged in the fixed block cavity, a rotating shaft which is in threaded fit with the movable block is rotatably connected with the right, the transmission shaft sliding connection has the removal axle sleeve, it is connected with the connecting block to remove the axle sleeve rotation, be equipped with the connecting block chamber in the connecting block, be equipped with fixed connection in the connecting block intracavity move the epaxial driving pulley of axle, be equipped with in the casing and connect driving pulley with the transmission band of driving pulley, transmission shaft right-hand member fixedly connected with transmission friction pulley.

On the basis of the technical scheme, the fixing mechanism comprises a lifting cavity arranged in the casing, the lower end wall of the lifting cavity is fixedly connected with a lifting motor, the lifting motor is in power connection with a driving shaft, the lower end of the driving shaft is fixedly connected with a driving belt wheel, the lifting cavity is internally and slidably connected with a lifting block in threaded fit with the driving shaft, a rotating motor cavity is arranged in the lifting block, the left end wall of the rotating motor cavity is fixedly connected with a rotating motor, the rotating motor is in power connection with a rotating shaft, the right end of the rotating motor is located in the working cavity, a translation cavity is arranged in the rotating shaft, the left end wall of the translation cavity is fixedly connected with a fixed electromagnet, a fixed moving plate is slidably connected in the translation cavity, a reset spring for connecting the fixed electromagnet and the fixed moving plate is arranged in the translation cavity, the right end face of the fixed, the improved buffer lifting mechanism is characterized in that a driven cavity is arranged in the casing, a driven shaft is connected to the end wall of the driven cavity in a rotating mode, a driven belt wheel is fixedly connected to the lower end of the driven shaft, a driven block is connected to the driven cavity in a threaded fit mode, the left end of the driven block is fixedly connected with a lifting plate in the working cavity, a lifting plate cavity is arranged in the lifting plate, a buffer moving plate is connected to the lifting plate in the lifting plate cavity in a sliding mode, the buffer moving plate is connected to the lifting plate cavity in a connecting mode, a buffer spring is arranged on the right end wall of the lifting plate cavity, the left end of the buffer moving plate is fixedly connected with the left end of the working cavity, the buffer moving shaft is connected to the right fixed plate in a rotating mode.

On the basis of the technical scheme, the left fixing plate and the right fixing plate have a buffering effect, the magnetic force of the fixed electromagnet is far greater than the elastic force of the reset spring, and the magnetic force of the movable electromagnet is greater than the elastic force of the horizontal spring.

The invention has the beneficial effects that: the invention can adjust the angle of the welding port in the left-right direction by arranging the rotating shaft, can adjust the angle of the part in the front-back direction by arranging the rotating shaft, is provided with the driving shaft and the lifting block in threaded fit with the driving shaft, and can adjust the part in the vertical direction.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of a welding robot according to the present invention;

FIG. 2 is an enlarged view of the structure at A-A in FIG. 1 according to an embodiment of the present invention;

FIG. 3 is an enlarged view of the structure at B-B in FIG. 1 according to an embodiment of the present invention;

FIG. 4 is an enlarged view of the structure at C-C in FIG. 3 according to an embodiment of the present invention;

FIG. 5 is an enlarged schematic view of the structure at D in FIG. 1 according to an embodiment of the present invention;

fig. 6 is an enlarged schematic view of the structure at E in fig. 2 according to the embodiment of the present invention.

Detailed Description

The invention will now be described in detail with reference to fig. 1-6, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

Referring to fig. 1 to 6, the welding manipulator according to the embodiment of the present invention includes a housing 10, a working chamber 21 is disposed in the housing 10, a welding mechanism 70 is disposed in the working chamber 21, the welding mechanism 70 includes a welding port 22 disposed in the working chamber 21, the welding port 22 can weld a part, the welding port 22 can rotate in the left-right direction, so as to weld the part from different angles, a power mechanism 71 is disposed in an upper end wall of the working chamber 21, the power mechanism 71 includes a translation motor 31, the translation motor 31 is power-connected to a driving shaft 26, the driving shaft 26 rotates to enable the welding port 22 to move in the horizontal direction, so as to switch welding positions, a fixing mechanism 72 is disposed in the housing 10, the fixing mechanism 72 includes a left fixing plate 20 disposed in the working chamber 21, be equipped with right fixed plate 30 in the working chamber 21, left side fixed plate 20 with right side fixed plate 30 cooperates and is close to each other and can carry out welded part to needs and fix, 20 left end face fixedly connected with translation axle 19 of left side fixed plate, the axle 40 is removed in the right-hand member face fixedly connected with buffering of right side fixed plate 30, thereby translation axle 19 can initiatively rotate and drive left side fixed plate 20 rotates, because left side fixed plate 20 with right side fixed plate 30 can fix needs welded part, so translation axle 19 can carry out the rotatory drive of fore-and-aft direction left side fixed plate 20 carries out the fore-and-aft direction rotation to it carries out the fore-and-aft direction rotation to drive fixed part, cooperation welding mouth self side-to-side motion and the rotation of left and right direction can carry out weld process to the spare each point and.

In addition, in one embodiment, the welding mechanism 70 includes a moving cavity 25 provided in the housing 10, a moving block 29 having a lower end located in the working cavity 21 is slidably connected in the moving cavity 25, a connecting block 43 is provided at a front end of the moving block 29, a rotating cavity 54 is provided in the connecting block 43, a rotating shaft 28 having a front end located in the rotating cavity 54 is rotatably connected to a front end of the moving block 29, a rotating block 27 is fixedly connected to a middle end of the rotating shaft 28, a welding machine 24 is fixedly connected to a lower end surface of the rotating block 27, a welding channel 23 and a welding port 22 are provided at a lower end of the welding machine 24, a driven bevel gear 51 is fixedly connected to a front end of the rotating shaft 28, a pulley cavity 56 is provided in a front end wall of the rotating cavity 54, a reversing shaft 53 having a front end located in the pulley cavity 56 is rotatably connected to a rear end wall of the rotating cavity 54, a transmission bevel gear, the front end of the reversing shaft 53 is fixedly connected with a transmission belt wheel 55.

In addition, in one embodiment, the power mechanism 71 includes a movable friction wheel 45 slidably connected to the right end of the driving shaft 26, an annular cavity 62 is disposed in the movable friction wheel 45, an arc-shaped block 69 is slidably connected in the annular cavity 62, a fixed block 63 is fixedly connected to the right end wall of the movable cavity 25, a fixed block cavity 67 is disposed in the fixed block 63, a movable electromagnet 64 is fixedly connected to the right end wall of the fixed block cavity 67, an intermediate rod 68 is disposed in the fixed block cavity 67, a moving plate 66 is slidably connected to the right end surface of the intermediate rod 68, a horizontal spring 65 is disposed in the fixed block cavity 67 and connects the moving plate 66 and the movable electromagnet 64, a winding shaft 44 is rotatably connected to the right end wall of the rear side of the movable cavity 25 and is in threaded fit with the movable block 29, it is rotatory around axle 44 rear end fixedly connected with driven friction pulley 46, it rotates to be connected with transmission shaft 41 to remove chamber 25 front side right-hand member wall, 41 sliding connection of transmission shaft has removal axle sleeve 42, it rotates and is connected with connecting block 43 to remove axle sleeve 42, be equipped with connecting block chamber 48 in the connecting block 43, be equipped with fixed connection in the connecting block chamber 48 remove the driving pulley 50 on the axle sleeve 42, be equipped with in the casing 10 and connect driving pulley 50 with the transmission band 49 of

driving pulley

55, 41 right-hand member fixedly connected with transmission friction pulley 47 of transmission shaft.

In addition, in one embodiment, the fixing mechanism 72 includes a lifting cavity 11 disposed in the housing 10, a lifting motor 12 is fixedly connected to a lower end wall of the lifting cavity 11, a driving shaft 15 is dynamically connected to the lifting motor 12, a driving pulley 14 is fixedly connected to a lower end of the driving shaft 15, a lifting block 16 in threaded engagement with the driving shaft 15 is slidably connected to the lifting cavity 11, a rotating motor cavity 58 is disposed in the lifting block 16, a rotating motor 57 is fixedly connected to a left end wall of the rotating motor cavity 58, the rotating motor 57 is dynamically connected to a rotating shaft 17 with a right end located in the working cavity 21, a translation cavity 18 is disposed in the rotating shaft 17, a fixed electromagnet 59 is fixedly connected to a left end wall of the translation cavity 18, a fixed plate 61 is slidably connected to the translation cavity 18, a return spring 60 connecting the fixed electromagnet 59 with the moving plate 61 is disposed in the translation cavity, the right end face of the fixed moving plate 61 is fixedly connected with a translation shaft 19, the right end of which is located outside and is fixedly connected with the left fixed plate 20, the casing 10 is internally provided with a driven cavity 32, the lower end wall of the driven cavity 32 is rotatably connected with a driven shaft 33, the lower end of the driven shaft 33 is fixedly connected with a driven belt pulley 38, the driven cavity 32 is internally and slidably connected with a driven block 34 in threaded fit with the driven shaft 33, the left end face of the driven block 34 is fixedly connected with a lifting plate 35, the left end of which is located in the working cavity 21, the lifting plate cavity 37 is internally provided with a lifting plate cavity 37, the lifting plate cavity 37 is internally and slidably connected with a buffer moving plate 39, the lifting plate cavity 37 is internally provided with a buffer spring 36, the buffer moving plate 39 is connected with the right end wall of the lifting plate cavity 37, the left end face of the buffer moving plate 39 is fixedly connected with, a transmission belt 13 for connecting the driven pulley 38 and the driving pulley 14 is provided in the housing 10.

In addition, in one embodiment, the left fixing plate 20 and the right fixing plate 30 have a buffering function, the magnetic force of the fixing electromagnet 59 is much larger than the elastic force of the return spring 60, and the magnetic force of the moving electromagnet 64 is larger than the elastic force of the horizontal spring 65.

In the initial state, the cushion spring 36 is in a relaxed state, the return spring 60 is in a relaxed state, the horizontal spring 65 is in a relaxed state, the movable friction wheel 45 engages with the driven friction wheel 46, and the movable friction wheel 45 does not engage with the transmission friction wheel 47.

When the parts need to be welded, the parts are manually placed between the left fixing plate 20 and the right fixing plate 30 in the working cavity 21, the fixed electromagnet 59 is started to repel the fixed moving plate 61, the fixed moving plate 61 moves rightwards and stretches the reset spring 60, the fixed moving plate 61 moves rightwards to drive the translation shaft 19 to move rightwards, so that the left fixing plate 20 is driven to move rightwards, the parts are fixed on the left fixing plate 20 and the right fixing plate 30, and after the parts are fixed, the welding machine 24 can be started to weld the parts through the welding channel 23 and the welding port 22;

if the height of the part needs to be adjusted in the welding process, the lifting motor 12 is started to output power, so that the driving shaft 15 is driven to rotate, the lifting block 16 is driven to move vertically upwards or downwards according to the rotating direction, so that the rotating shaft 17 is driven to move vertically, the translation shaft 19 is driven to move vertically, so that the left fixing plate 20 is driven to move vertically, meanwhile, the driving belt wheel 14 rotates to drive the driven belt wheel 38 to rotate through the driving belt 13, so that the driven shaft 33 is driven to rotate, so that the driven block 34 is driven to move vertically, so that the lifting plate 35 is driven to move vertically, so that the buffer moving shaft 40 is driven to move vertically, so that the right fixing plate 30 is driven to move vertically, and the left fixing plate 20 and the right fixing plate 30 move together;

if the angle of the front and back direction of the part needs to be adjusted in the welding process, the rotating motor 57 is started to output power, so that the rotating shaft 17 is driven to rotate, the translation shaft 19 is driven to rotate, the left fixing plate 20 is driven to rotate, and the right fixing plate 30 is rotatably connected with the buffer moving shaft 40, so that the left fixing plate 20 rotates to drive the fixed part and the right fixing plate 30 to rotate together, and the angle adjustment of the front and back direction of the part is realized;

during the welding process, the horizontal position of the welding port 22 needs to be adjusted, the translation motor 31 is started to output power, so as to drive the driving shaft 26 to rotate, so as to drive the movable friction wheel 45 to rotate, because the movable friction wheel 45 is meshed with the driven friction wheel 46, the movable friction wheel 45 rotates to drive the driven friction wheel 46 to rotate, so as to drive the rotating shaft 44 to rotate, so as to drive the moving block 29 to perform horizontal motion, so as to drive the rotating block 27 and the connecting block 43 to perform horizontal motion, so as to drive the welding machine 24, the welding channel 23 and the welding port 22 to perform horizontal motion, so as to adjust the horizontal position of the welding port 22, if the angle in the left-right direction of the welding port 22 needs to be adjusted, the movable electromagnet 64 is started to repel the movable plate 66, so that the movable plate 66 moves leftwards and stretches the horizontal spring 65, the leftward movement, so that the movable friction wheel 45 is disengaged from the driven friction wheel 46, the movable friction wheel 45 is engaged with the transmission friction wheel 47, the translation motor 31 is started to output power at the moment, thereby driving the driving shaft 26 to rotate, thereby driving the movable friction wheel 45 to rotate, thereby driving the transmission friction wheel 47 to rotate, thereby driving the transmission shaft 41 to rotate, thereby driving the movable shaft sleeve 42 to rotate, thereby driving the driving belt pulley 50 to rotate, thereby driving the transmission belt pulley 55 to rotate through the transmission belt 49, thereby driving the reversing shaft 53 to rotate, thereby driving the transmission bevel gear 52 to rotate, thereby driving the driven bevel gear 51 to rotate, thereby driving the rotation shaft 28 to rotate, thereby driving the rotation block 27 to rotate, thereby driving the welding machine 24, the welding channel 23 and the welding port 22 to rotate, and realizing the angle adjustment of the left and right directions.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A welding manipulator comprises a casing, wherein a working cavity is arranged in the casing, a welding mechanism is arranged in the working cavity, the welding mechanism comprises a welding port arranged in the working cavity, the welding port can weld parts, the welding port can rotate in the left and right directions, so that the parts can be welded from different angles, a power mechanism is arranged in the upper end wall of the working cavity and comprises a translation motor, the translation motor is in power connection with a driving shaft, the driving shaft rotates to enable the welding port to move in the horizontal direction, so that the welding position can be switched, a fixing mechanism is arranged in the casing and comprises a left fixing plate arranged in the working cavity, a right fixing plate is arranged in the working cavity, the left fixing plate and the right fixing plate are matched and close to each other to fix the parts needing to be welded, the left end face of the left fixed plate is fixedly connected with a translation shaft, the right end face of the right fixed plate is fixedly connected with a buffer moving shaft, the translation shaft can rotate actively to drive the left fixed plate to rotate, and the left fixed plate and the right fixed plate can fix parts to be welded, so that the translation shaft can rotate in the front-back direction to drive the left fixed plate to rotate in the front-back direction, so as to drive the fixed parts to rotate in the front-back direction, and each point of the parts can be welded and processed by matching with the left-right movement and the rotation in the left-right direction of a welding port; the welding mechanism comprises a moving cavity arranged in the shell, a moving block with the lower end located in the working cavity is connected in the moving cavity in a sliding mode, a connecting block is arranged at the front end of the moving block, a rotating cavity is arranged in the connecting block, the front end of the moving block is rotatably connected with a rotating shaft with the front end located in the rotating cavity, the middle end of the rotating shaft is fixedly connected with a rotating block, the lower end face of the rotating block is fixedly connected with a welding machine, the lower end of the welding machine is provided with a welding channel and a welding port, the front end of the rotating shaft is fixedly connected with a driven bevel gear, a belt wheel cavity is arranged in the front end wall of the rotating cavity, the rear end wall of the rotating cavity is rotatably connected with a reversing shaft with the front end located in the belt wheel cavity, the rear; the power mechanism comprises a movable friction wheel which is connected with the right end of the driving shaft in a sliding manner, an annular cavity is arranged in the movable friction wheel, an arc-shaped block is connected in the annular cavity in a sliding manner, a fixed block is fixedly connected to the right end wall of the movable cavity, a fixed block cavity is arranged in the fixed block, a movable electromagnet is fixedly connected to the right end wall of the fixed block cavity, an intermediate rod is arranged in the fixed block cavity, the left end surface of the intermediate rod is fixedly connected with a movable plate which is connected in the fixed block cavity in a sliding manner, a horizontal spring which is connected with the movable plate and the movable electromagnet is arranged in the fixed block cavity, a rotating shaft which is in threaded fit with the movable block is rotatably connected to the right end wall of the rear side of the movable cavity, a driven friction, the transmission shaft is connected with a movable shaft sleeve in a sliding mode, the movable shaft sleeve is connected with a connecting block in a rotating mode, a connecting block cavity is formed in the connecting block, a driving belt wheel fixedly connected to the movable shaft sleeve is arranged in the connecting block cavity, a transmission belt for connecting the driving belt wheel and the transmission belt wheel is arranged in the casing, and a transmission friction wheel is fixedly connected to the right end of the transmission shaft; the fixing mechanism comprises a lifting cavity arranged in the casing, the end wall of the lifting cavity is fixedly connected with a lifting motor, the lifting motor is in power connection with a driving shaft, the lower end of the driving shaft is fixedly connected with a driving belt wheel, the lifting cavity is internally and slidably connected with a lifting block in threaded fit with the driving shaft, a rotating motor cavity is arranged in the lifting block, the left end wall of the rotating motor cavity is fixedly connected with a rotating motor, the rotating motor is in power connection with a rotating shaft, the right end of the rotating motor is located in the working cavity, a translation cavity is arranged in the rotating shaft, the left end wall of the translation cavity is fixedly connected with a fixed electromagnet, the translation cavity is internally and slidably connected with a fixed moving plate, a reset spring for connecting the fixed electromagnet with the fixed moving plate is arranged in the translation cavity, the right end face of the fixed, a driven cavity is arranged in the shell, the lower end wall of the driven cavity is rotatably connected with a driven shaft, the lower end of the driven shaft is fixedly connected with a driven belt wheel, a driven block in threaded fit with the driven shaft is connected in the driven cavity in a sliding manner, the left end face of the driven block is fixedly connected with a lifting plate of which the left end is positioned in the working cavity, a lifting plate cavity is arranged in the lifting plate, a buffer moving plate is connected in the lifting plate cavity in a sliding manner, a buffer spring for connecting the buffer moving plate with the right end wall of the lifting plate cavity is arranged in the lifting plate cavity, the left end face of the buffer moving plate is fixedly connected with a buffer moving shaft of which the left end is positioned in the working cavity and is rotatably connected with the right fixed plate, and a transmission; the left fixing plate and the right fixing plate have a buffering effect, the magnetic force of the fixed electromagnet is far greater than the elastic force of the reset spring, and the magnetic force of the movable electromagnet is greater than the elastic force of the horizontal spring.